CN117372479A - Intelligent pen writing track correction method and system - Google Patents
Intelligent pen writing track correction method and system Download PDFInfo
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- CN117372479A CN117372479A CN202311670276.6A CN202311670276A CN117372479A CN 117372479 A CN117372479 A CN 117372479A CN 202311670276 A CN202311670276 A CN 202311670276A CN 117372479 A CN117372479 A CN 117372479A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 18
- 230000008859 change Effects 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 7
- 238000002715 modification method Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 2
- 230000006978 adaptation Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03545—Pens or stylus
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
- G06F3/0383—Signal control means within the pointing device
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
Abstract
The invention is suitable for the technical field of intelligent pen writing, and provides a method and a system for correcting writing tracks of an intelligent pen, wherein the method comprises the following steps: reading the current absolute coordinate position of the intelligent pen: judging the position of the intelligent pen on the writing interface according to the code point information on the writing interface; recording the movement track of the intelligent pen: and recording the movement track of the intelligent pen according to the gyroscope information on the intelligent pen, wherein the gyroscope information is a relative displacement track and a displacement direction, and the code point information is an absolute coordinate position. Each writing trace has a plurality of absolute coordinates as a calibration basis, which are used to reconstruct the coordinate system of the entire relative displacement. The invention improves the similarity of the reconstructed handwriting by adding the absolute coordinates and the relative coordinates, solves the problem of losing the absolute coordinates during acquisition, describes the whole motion track as much as possible by using a group of moving point sets with the absolute coordinates, does not describe the point sets without uniqueness by using the relative positions and the relative displacements, and has better effect.
Description
Technical Field
The invention relates to the technical field of intelligent pen writing, in particular to a method and a system for correcting writing tracks of an intelligent pen.
Background
On the paper written by the intelligent pen, there are fine code points, similar to the principle of a point-reading pen, the code points in a square area can carry certain data information through a decoding algorithm. When the writing is performed on the paper with the code points, the coordinate position of the intelligent pen falling on the paper can be obtained through the code point information, the movement track of the intelligent pen can be calculated by reversely pushing the coordinate position, based on the coordinate position, the handwriting written by the intelligent pen on the paper can be displayed on a computer, and the accuracy of the handwriting depends on the density of the code points in unit area and the coordinate quantity which can be simultaneously obtained by the intelligent pen.
For example, a blank examination paper with examination questions can be directly presented on a computer when a student answers with an intelligent pen in the blank place, but if the code points on the writing paper are covered in a large amount today, the intelligent pen cannot obtain the code point information during writing, and the moving track of the intelligent pen cannot be returned, so that the handwriting presented on the computer has break points or blanks. In practical situations, for example, an underline is often left in a response area of a question on paper, if a part of handwriting written by a student passes through the underline, a large number of code points can be covered by the position of the underline during printing, so that the situation that the handwriting is discontinuous or not displayed can occur when the position of the underline exceeds the underline, and the intelligent pen loses a large number of positioning information of absolute coordinates because of the covered code points, so that the moving track of the pen cannot be returned, and the handwriting cannot be displayed at a computer end.
In order to solve the above problem, the patent with the publication number CN104199566B adopts image feature recognition+relative displacement, and for the same feature image with more than one position on one sheet, blank places cannot be solved without acquiring unique feature images or multiple feature images being identical. The patent with the publication number of CN101872260B adopts ultrasonic positioning and relative displacement, positions the angle change of an object and writing through ultrasonic waves, and carries out displacement change tracks by adding a gyroscope, and is mainly technically characterized in that data processing is carried out on an air mouse, ultrasonic waves belong to sensitive devices for temperature, technical characteristics are based on vertical writing, the precision is limited, meanwhile, the basis of the patent is a model algorithm (limited to a model algorithm of a specific person), a computer display screen and occasions with low requirements on writing and restoring precision are suitable for a blackboard which cannot be moved, and each writing needs alignment calibration, is not suitable for random writing and high-precision writing, and is too complicated. To correct the calibration algorithm module, the patent publication CN113986032a must first input a user's special diagnosis model, calibrate with fixed offset parameters, the gyroscope is the reference variable in the middle, and the user cannot rotate the pen once using it. In addition, the three patents have the same problems, the pen lifting and pen falling coordinates cannot be uniquely determined, and the accuracy of reconstructing handwriting is low. Therefore, it is desirable to provide a method and a system for correcting writing track of an intelligent pen, so as to solve the above problems.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide an intelligent pen writing track correction method and system so as to solve the problems existing in the background art.
The invention is realized in such a way that an intelligent pen writing track correction method comprises the following steps:
reading the current absolute coordinate position of the intelligent pen: judging the position of the intelligent pen on the writing interface according to code point information on the writing interface, wherein the code point information comprises absolute coordinate information of the position of the code point on the writing interface;
recording the movement track of the intelligent pen: according to the information of different code points read by the intelligent pen, the position change of the intelligent pen on the writing interface is obtained and converted into a moving track of the intelligent pen on the writing interface;
track correction: when the intelligent pen cannot obtain code point information on the writing interface, the gyroscope signal change information on the intelligent pen is recorded, and the gyroscope signal change information is converted into a moving track of the intelligent pen.
As a further scheme of the invention: each writing trace has one or more absolute coordinates as a calibration basis, which are used to reconstruct the coordinate system of the entire relative displacement.
As a further scheme of the invention: the absolute coordinates are acquired through the camera, the relative displacement data are acquired through the gyroscope, and the lost one or more absolute coordinates are solved through Euler angle and quaternion calculation.
As a further scheme of the invention: the quaternion calculation is used for determining the posture of the penholder, and specifically comprises the following steps: calculating the attitude angle of the penholder through a quaternion rotation vector method three subsampler algorithm; judging whether the pen holder is in acceleration motion; when the fact that the pen holder does not have acceleration motion is detected, estimating an attitude angle error calculated by the triaxial gyroscope by adopting a Kalman filter; and correcting the attitude angle according to the estimation of the calculation error of the Kalman filter to the attitude angle, so as to obtain the attitude of the penholder motion.
Another object of the present invention is to provide an intelligent pen writing trace correction system, the system comprising:
the absolute coordinate position module is used for judging the absolute coordinate position of the intelligent pen: judging the absolute position of the intelligent pen on the writing interface according to the code point information on the writing interface;
the movement track recording module is used for recording the movement track of the intelligent pen: and recording the movement track of the intelligent pen according to the gyroscope information on the intelligent pen, wherein the gyroscope information is a relative displacement track, and the code point information is an absolute coordinate position.
Compared with the prior art, the invention has the beneficial effects that:
the invention improves the similarity of the reconstructed handwriting through the absolute coordinates and the relative coordinates, solves the problem of loss generated when the absolute coordinates are acquired, describes the whole motion track as much as possible by using a group of moving point sets with the absolute coordinates instead of describing the point sets which are not unique by using the relative positions and the relative displacements, and has better effect.
Drawings
FIG. 1 is a flow chart of a method for correcting writing track of an intelligent pen.
Fig. 2 is a schematic structural diagram of a writing track correction system of an intelligent pen.
Description of the embodiments
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
As shown in fig. 1, an embodiment of the present invention provides a method for correcting a writing track of an intelligent pen, including the following steps:
s100, reading the current absolute coordinate position of the intelligent pen: judging the position of the intelligent pen on the writing interface according to code point information on the writing interface, wherein the code point information comprises absolute coordinate information of the position of the code point on the writing interface;
s200, recording the movement track of the intelligent pen: according to the information of different code points read by the intelligent pen, the position change of the intelligent pen on the writing interface is obtained and converted into a moving track of the intelligent pen on the writing interface;
s300, track correction: when the intelligent pen cannot obtain code point information on the writing interface, the gyroscope signal change information on the intelligent pen is recorded, and the gyroscope signal change information is converted into a moving track of the intelligent pen.
According to the embodiment of the invention, the absolute coordinate position of the code point information on the paper is matched with the gyroscope information on the intelligent pen to solve the problem that the position handwriting cannot be accurately determined because part of code points are covered; and the relative displacement is utilized to solve the problem that the reconstructed writing track and the actual writing track are deviated due to acquisition deficiency of the acquisition end on the absolute coordinates. The fundamental difference from the prior art is that the invention is an approximation, combining absolute and relative coordinates, infinitely approaching a true higher accuracy reconstruction. In the embodiment of the invention, each writing track has one or more absolute coordinates as a calibration basis, and the absolute coordinates are used for reconstructing a coordinate system of the whole relative displacement. Because of the absolute coordinates, the requirements on the computation capacity of the MCU, the power consumption and the use scene are better than those of the prior art.
In the embodiment of the invention, the absolute coordinates are acquired through the camera, the relative displacement data are acquired through the gyroscope, and the lost one or more absolute coordinates are solved through Euler angle and quaternion calculation.
In the embodiment of the invention, the quaternion calculation is used for determining the posture of the penholder, and the specific steps are as follows: calculating the attitude angle of the penholder through a quaternion rotation vector method three subsampler algorithm; judging whether the penholder is in acceleration movement, and calculating the rolling angle and the pitch angle of the penholder by utilizing the output of a triaxial accelerometer at the lower end of the penholder when the penholder is not in acceleration movement; when the fact that the pen holder does not have acceleration motion is detected, estimating an attitude angle error calculated by the triaxial gyroscope by adopting a Kalman filter; and correcting the attitude angle according to the estimation of the calculation error of the Kalman filter to the attitude angle, so as to obtain the attitude of the penholder motion. The angle between the pen and the paper can be obtained through conversion calculation of the attitude angle, and the angle fluctuates around the correct angle due to the pen holding attitude and the writing process, and after projection is carried out on the attitude angle, the (x, y) relative coordinates on the plane of the paper can be obtained. The basically correct dynamic attitude angle can be obtained after the Kalman algorithm is used for filtering, so that the accuracy of projection calculation is ensured. The Kalman filtering algorithm is based on a median, the stable approximate real trend is formed after the weighting of the continuous change trend of the median, and the attitude angle of the penholder is changed from one angle value to another angle value and must pass through the median, so that the attitude of the penholder can be obtained by utilizing the characteristic.
As shown in fig. 2, an embodiment of the present invention further provides an intelligent pen writing track correction system, where the system includes:
the absolute coordinate position module 100 is configured to determine an absolute coordinate position of the smart pen: judging the absolute position of the intelligent pen on the writing interface according to the code point information on the writing interface;
the movement track recording module 200 is used for recording the movement track of the intelligent pen: and recording the movement track of the intelligent pen according to the gyroscope information on the intelligent pen, wherein the gyroscope information is a relative displacement track, and the code point information is an absolute coordinate position.
The foregoing description of the preferred embodiments of the present invention should not be taken as limiting the invention, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (5)
1. An intelligent pen writing track correction method is characterized by comprising the following steps:
reading the current absolute coordinate position of the intelligent pen: judging the position of the intelligent pen on the writing interface according to code point information on the writing interface, wherein the code point information comprises absolute coordinate information of the position of the code point on the writing interface;
recording the movement track of the intelligent pen: according to the different code point information read by the intelligent pen, the position change of the intelligent pen on the writing interface is obtained and converted into a moving track of the intelligent pen on the writing interface;
track correction: when the intelligent pen cannot obtain the code point information on the writing interface, recording the gyroscope signal change information on the intelligent pen, and converting the gyroscope signal change information into a moving track of the intelligent pen.
2. The smart pen writing trace modification method according to claim 1, wherein each pen writing trace has one or more absolute coordinates as a calibration basis, the absolute coordinates being used to reconstruct a coordinate system of the entire relative displacement.
3. The method for correcting the writing track of the intelligent pen according to claim 1, wherein the absolute coordinates on the code point paper are collected through a camera, the relative displacement data are collected through a gyroscope, and the missing one or more absolute coordinates are solved through Euler angle and quaternion calculation.
4. The method for correcting writing track of intelligent pen according to claim 3, wherein the quaternion calculation is used for determining the posture of the pen holder, and comprises the following specific steps: calculating the attitude angle of the penholder through a quaternion rotation vector method three subsampler algorithm; judging whether the pen holder is in acceleration movement and movement direction; when the fact that the pen holder does not have acceleration motion is detected, estimating an attitude angle error calculated by the triaxial gyroscope by adopting a Kalman filter; and correcting the attitude angle according to the estimation of the calculation error of the Kalman filter to the attitude angle, so as to obtain the attitude of the penholder motion.
5. An intelligent pen writing trace correction system, the system comprising:
the absolute coordinate position module is used for judging the absolute coordinate position of the intelligent pen: judging the absolute position of the intelligent pen on the writing interface according to the code point information on the writing interface;
the movement track recording module is used for recording the movement track of the intelligent pen: and recording the movement track of the intelligent pen according to the gyroscope information on the intelligent pen, wherein the gyroscope information is the relative displacement track and direction, and the code point information is the absolute coordinate position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311670276.6A CN117372479A (en) | 2023-12-07 | 2023-12-07 | Intelligent pen writing track correction method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311670276.6A CN117372479A (en) | 2023-12-07 | 2023-12-07 | Intelligent pen writing track correction method and system |
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| CN117372479A true CN117372479A (en) | 2024-01-09 |
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Citations (7)
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| JP2005092435A (en) * | 2003-09-16 | 2005-04-07 | Casio Comput Co Ltd | Pen type data input device and program therefor |
| CN101872260A (en) * | 2010-06-03 | 2010-10-27 | 张通达 | Remote interactive pen and handwriting detection method |
| US20150116285A1 (en) * | 2013-10-28 | 2015-04-30 | Michael A. Kling | Method and apparatus for electronic capture of handwriting and drawing |
| CN109189245A (en) * | 2018-11-05 | 2019-01-11 | 深圳腾千里科技有限公司 | A kind of method that smart pen and the smart pen realize mouse function |
| CN110928507A (en) * | 2019-10-24 | 2020-03-27 | 佛山市乐商互联网科技有限公司 | Synchronous display and data electronization system based on intelligent writing and implementation method |
| CN114327098A (en) * | 2021-12-31 | 2022-04-12 | 青岛罗博数码科技有限公司 | Data processing method and device and intelligent pen |
| CN116700506A (en) * | 2022-02-28 | 2023-09-05 | 广州视臻信息科技有限公司 | Interaction method, device and equipment for intelligent pen and interaction tablet and storage medium |
-
2023
- 2023-12-07 CN CN202311670276.6A patent/CN117372479A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005092435A (en) * | 2003-09-16 | 2005-04-07 | Casio Comput Co Ltd | Pen type data input device and program therefor |
| CN101872260A (en) * | 2010-06-03 | 2010-10-27 | 张通达 | Remote interactive pen and handwriting detection method |
| US20150116285A1 (en) * | 2013-10-28 | 2015-04-30 | Michael A. Kling | Method and apparatus for electronic capture of handwriting and drawing |
| CN109189245A (en) * | 2018-11-05 | 2019-01-11 | 深圳腾千里科技有限公司 | A kind of method that smart pen and the smart pen realize mouse function |
| CN110928507A (en) * | 2019-10-24 | 2020-03-27 | 佛山市乐商互联网科技有限公司 | Synchronous display and data electronization system based on intelligent writing and implementation method |
| CN114327098A (en) * | 2021-12-31 | 2022-04-12 | 青岛罗博数码科技有限公司 | Data processing method and device and intelligent pen |
| CN116700506A (en) * | 2022-02-28 | 2023-09-05 | 广州视臻信息科技有限公司 | Interaction method, device and equipment for intelligent pen and interaction tablet and storage medium |
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